IL290896A - Image based motion control correction - Google Patents

Image based motion control correction

Info

Publication number
IL290896A
IL290896A IL290896A IL29089622A IL290896A IL 290896 A IL290896 A IL 290896A IL 290896 A IL290896 A IL 290896A IL 29089622 A IL29089622 A IL 29089622A IL 290896 A IL290896 A IL 290896A
Authority
IL
Israel
Prior art keywords
motion
imaging device
medical imaging
data
control command
Prior art date
Application number
IL290896A
Other languages
Hebrew (he)
Inventor
Birkenbach Rainer
Original Assignee
Brainlab Ag
Birkenbach Rainer
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brainlab Ag, Birkenbach Rainer filed Critical Brainlab Ag
Publication of IL290896A publication Critical patent/IL290896A/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6811—Motion detection based on the image signal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2652—Medical scanner
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36414—Compare image detected path with stored reference, difference corrects position
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Human Computer Interaction (AREA)
  • Image Processing (AREA)
  • Compression Or Coding Systems Of Tv Signals (AREA)
  • Processing Of Color Television Signals (AREA)
  • Picture Signal Circuits (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Endoscopes (AREA)

Claims (16)

1.Claims 1. A computer-implemented medical method of adjusting control commands for moving a medical imaging device (5) connected to a moving device (4), wherein the method comprises the following steps: - first image data is acquired (S1), describing a first image received by the medical imaging device (5); - intended motion data is acquired (S2), describing an intended motion of the medical imaging device (5), wherein the intended motion data is based on a control command transmitted to the moving device (4); - second image data is acquired (S3), describing a second image received by the medical imaging device (5) that has been moved as a result of the control command; - actual motion data is determined (S4) based on the first image data and the second image data, describing an actual motion of the medical imaging device (5); - correction data is determined (S5) based on the intended motion data and the actual motion data, describing a correction to be applied to the control command in order to produce the intended motion of the medical imaging device (5).
2. The method according to claim 1, wherein determining correction data involves correlating the intended motion data with the actual motion data in a common co-ordinate system which is in particular assigned to a display device (8) adapted to display images that are received by the imaging device (5).
3. The method according to claim 1 or 2, wherein the control command is effected by at least one of: - a user control command input transmitted by an input device (7); - an automatic control command generated and transmitted by a control device (6).
4. The method according to any one of claims 1 to 3, wherein the intended motion includes an intended direction of motion and/or an intended velocity of motion of the medical imaging device (5).
5. The method according to claim 4, wherein the intended direction of motion is parallel to the plane of at least one of the first and the second image.
6. The method according to claim 4 or 5, wherein the intended velocity of motion is a function of a dimension of the display device (8), particularly of at least one of the width, the height, the size and the pixel number of the display device (8).
7. The method according to any one of claims 1 to 6, wherein determining the actual motion data involves image processing techniques for determining the motion of the medical imaging device (5) relative to at least one object (9) shown on the first image and the second image.
8. The method according to any one of claims 1 to 7, wherein the correction to be applied to the control command further compensates for the difference between a medical imaging device's (5) actual position and a medical imaging device's (5) intended position, that was caused by a deviation of the medical imaging device's (5) actual motion from the medical imaging device's (5) intended motion.
9. The method according to any one of claims 1 to 8, wherein the correction data is determined for every control command transmitted to the moving device (4).
10. The method according to any one of claims 1 to 9, further including the step of determining, based on the correction data, control data describing a corrected control command to be transmitted to the moving device (4).
11. The method according to any one of claims 1 to 10, wherein the display device (8) is controlled to not show in the sequence of images a motion of the medical imaging device (5) that deviates from the intended motion.
12. The method according to any one of claims 1 to 11, wherein determining correction data involves applying a plausibility check to determine whether the determined correction of the control command is reasonable, particularly wherein a reasonable correction of the control command does not exceed a maximum limit and/or a minimum limit.
13. The method according to any one of claims 1 to 12, further including the step of determining correction verification data, describing whether the control command has been validly corrected, particularly based on at least a third image received by the medical imaging device (5) that has been moved as a result of the corrected control command.
14. A program which, when running on a computer (2) or when loaded onto a computer (2), causes the computer (2) to perform the method steps of the method according to any one of the claims 1 to 13; and/or a program storage medium (3) on which the program is stored; and/or a computer (2) comprising at least one processor and a memory and/or the program storage medium, wherein the program is running on the computer (2) or loaded into the memory of the computer (2); and/or an electromagnetic carrier wave carrying information which represents the program; and/or a data stream which is representative of the program.
15. A medical system (1), comprising: - the at least one computer (2) according to claim 14; and - a moving device (4) for moving a medical imaging device (5) connected to the moving device (4); wherein the at least one computer (2) is operably coupled to - the moving device (4) for issuing a control signal to the moving device (4) for controlling the operation of the moving device (4) on the basis of the first and the second image data.
16. Use of the system according to claim 15 for conducting an imaging procedure, wherein the use comprises execution of the steps of the method according to any one of the claims 1 to 13. Roy S. Melzer, Adv. Patent Attorney G.E. Ehrlich (1995) Ltd. 11 Menachem Begin Road 5268104 Ramat Gan
IL290896A 2019-08-30 2019-08-30 Image based motion control correction IL290896A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2019/073245 WO2021037381A1 (en) 2019-08-30 2019-08-30 Image based motion control correction

Publications (1)

Publication Number Publication Date
IL290896A true IL290896A (en) 2022-07-01

Family

ID=67847708

Family Applications (1)

Application Number Title Priority Date Filing Date
IL290896A IL290896A (en) 2019-08-30 2019-08-30 Image based motion control correction

Country Status (5)

Country Link
US (1) US11992284B2 (en)
EP (1) EP4021335A1 (en)
DE (1) DE112019007663T5 (en)
IL (1) IL290896A (en)
WO (1) WO2021037381A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113796875A (en) * 2021-09-16 2021-12-17 上海联影医疗科技股份有限公司 Method and system for monitoring motion state of medical scanning equipment and electronic device
CN115393221B (en) * 2022-08-29 2023-06-20 眉山市人民医院 Method, terminal and medium for calibrating angle of probe lens suitable for ureter soft lens end

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10133624A1 (en) * 2000-07-13 2002-01-24 Rolf Kleck Arrangement for determining corrected movement data for a specified sequence of movement of a movable device, such as an industrial robot, uses computer unit for ascertaining corrected movement data via a reference device
DE602007012688D1 (en) 2007-08-10 2011-04-07 Honda Res Inst Europe Gmbh Online calibration of stereo camera systems with fine convergence movements
US10314463B2 (en) * 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
WO2017091704A1 (en) * 2015-11-25 2017-06-01 Camplex, Inc. Surgical visualization systems and displays
US9931025B1 (en) * 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
US10543048B2 (en) * 2016-12-28 2020-01-28 Auris Health, Inc. Flexible instrument insertion using an adaptive insertion force threshold
JP7034636B2 (en) * 2017-09-07 2022-03-14 ソニー・オリンパスメディカルソリューションズ株式会社 Medical observation device and medical observation system
US11340441B2 (en) * 2019-07-09 2022-05-24 Lightech Fiberoptics, Inc. Microscope made with CMOS camera(s)

Also Published As

Publication number Publication date
DE112019007663T5 (en) 2022-05-25
US20220408002A1 (en) 2022-12-22
WO2021037381A1 (en) 2021-03-04
EP4021335A1 (en) 2022-07-06
US11992284B2 (en) 2024-05-28

Similar Documents

Publication Publication Date Title
US6226388B1 (en) Method and apparatus for object tracking for automatic controls in video devices
US20210289141A1 (en) Control method and apparatus for photographing device, and device and storage medium
WO2017045315A1 (en) Method and apparatus for determining location information of tracked target, and tracking apparatus and system
US20150125035A1 (en) Image processing apparatus, image processing method, and storage medium for position and orientation measurement of a measurement target object
US20200125100A1 (en) Movable object control method, device and system
US20120320190A1 (en) System for Calibrating a Vision System
KR102697448B1 (en) Method and apparatus for generating autonomous driving route
US10007359B2 (en) Navigation trace calibrating method and related optical navigation device
IL290896A (en) Image based motion control correction
US10969946B2 (en) Methods, devices, and systems for controlling movement of a moving object
US11381751B2 (en) Handheld gimbal control method, handheld gimbal, and handheld device
US10705604B2 (en) Eye tracking apparatus and light source control method thereof
US11745350B2 (en) Control method and control system of manipulator
US20170242432A1 (en) Image processing for gesture-based control of an unmanned aerial vehicle
KR20180028766A (en) System and method for correcting error of camera
KR101989087B1 (en) Distortion correction method and distortion correction system for projection display using personal digital imaging device
US20210150733A1 (en) Data processing method, apparatus, and system
CN108604010B (en) Method for correcting drift in a device and device
US20080309619A1 (en) Cursor control method applied to presentation system and computer readable storage medium
US20190347503A1 (en) Information processing apparatus, information processing method and storage medium
US8737686B2 (en) 3D object tracking method and apparatus
US9581439B1 (en) Image capture device with a calibration function and calibration method of an image capture device
CN110570680A (en) Method and system for determining position of object using map information
CN113539162B (en) Image capturing method and device of display panel
US10891805B2 (en) 3D model establishing device and calibration method applying to the same